JP7074503B2 - Vehicle control unit - Google Patents

Description

The present invention relates to a vehicle control device, and more particularly to a vehicle control device that assists in driving a vehicle on behalf of a driver.

Patent Document 1 discloses a technique for smoothly merging merging vehicles at a merging point where the traveling lane in which the own vehicle travels and the merging lane meet. In this technology, when there is a merging vehicle that cuts into the driving lane from the merging lane, the deceleration of the own vehicle necessary for smooth merging when the merging vehicle is assumed to travel at a constant speed, and the own vehicle When it is assumed that the vehicle travels at a constant speed, the deceleration of the merging vehicle required for smooth merging is compared, and the action judgment is made based on the comparison result as to whether the own vehicle should go ahead of the merging vehicle.

Japanese Unexamined Patent Publication No. 2017-132408

In the technique of Patent Document 1, the scene of interruption is limited to the confluence point between the traveling lane and the merging lane, and the action judgment when another vehicle interrupts the own lane from the adjacent lane is not disclosed. The scenes of interruption from the adjacent lane include, for example, the driver's free will interruption, the semi-forced interruption that is required, and specifically, the interruption caused by the movement of the vehicle behind such as driving in a hurry. There is. As one method of action determination in the former case, for example, it is conceivable to start an avoidance operation such as deceleration control based on a change in the lateral position of the interrupted vehicle. However, in the latter case, the movement of the interrupted vehicle tends to be sudden, so if only the movement and state of the interrupted vehicle are monitored, the avoidance operation will be delayed, and the vehicle and the vehicle that interrupted itself. It may not be possible to secure a sufficient safety margin with the vehicle.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a vehicle control device capable of avoiding interference between an interrupted vehicle and its own vehicle and maintaining smooth traffic. do.

In order to solve the above problems, the present invention is to avoid parallel running with other vehicles when another vehicle staying in the parallel running determination area set in the adjacent lane for more than the parallel running determination time is detected. The target is a vehicle control device that controls the operation of the own vehicle. The vehicle control device includes an object recognition unit, an interrupt target vehicle detection unit, a monitoring target vehicle detection unit, an avoidance preparation execution unit, and an avoidance operation execution unit. The object recognition unit recognizes an object existing around the own vehicle. The interrupt target vehicle detection unit detects an interrupt target vehicle that may interrupt the own lane from the adjacent lane from the objects recognized by the object recognition unit. The monitored vehicle detection unit detects the monitored vehicle traveling behind the interrupted vehicle from the objects recognized by the object recognition unit. The avoidance preparation execution unit expands the parallel running judgment area toward the lane of the adjacent lane and shortens the parallel running judgment time when an operation equivalent to a fanning operation of the monitored vehicle with respect to the interrupted vehicle is detected. Run. Then, when it is detected that the interrupted vehicle stays in the parallel running determination area for the parallel running determination time or longer after the avoidance preparation is executed, the avoidance preparation execution unit causes interference between the interrupted vehicle and the own vehicle. Perform an avoidance action to avoid it.

According to the present invention, by monitoring the behavior of a vehicle traveling behind the interrupted vehicle as a monitored vehicle, the interrupted vehicle interrupts the own lane from the adjacent lane due to the behavior of the vehicle behind. Can be detected. Then, when a predetermined operation of the monitored vehicle to the interrupted vehicle is detected, first, the parallel running determination area is expanded toward the lane of the adjacent lane, and avoidance preparation is executed to shorten the parallel running determination time, and then the interrupt is performed. When it is detected that the target vehicle stays in the parallel running determination area for the parallel running determination time or longer, the avoidance action can be executed, which is a two-step action. As a result, it is possible to avoid interference between the interrupted vehicle and the own vehicle and maintain smooth traffic without giving a sense of discomfort to the occupants due to premature avoidance movements or sudden avoidance movements.

It is a conceptual diagram for demonstrating the driving support control by the vehicle control device which concerns on Embodiment 1. FIG. It is a conceptual diagram for demonstrating the outline of the avoidance operation performed by a vehicle control device. It is a conceptual diagram for demonstrating the outline of the avoidance operation with avoidance preparation performed by both control devices. It is a figure which shows the schematic structure of the vehicle control device of Embodiment 1. It is a flowchart which shows the routine of the driving support control which is executed in Embodiment 1. FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, when the number, quantity, quantity, range, etc. of each element is referred to in the embodiment shown below, the reference is made unless it is explicitly stated or when the number is clearly specified in principle. The invention is not limited to this number. In addition, the structures, steps, and the like described in the embodiments shown below are not necessarily essential to the present invention, except when explicitly stated or clearly specified in principle.

1. 1. Embodiment 1.
1-1. Outline of Driving Support Control by Vehicle Control Device FIG. 1 is a conceptual diagram for explaining driving support control by the vehicle control device according to the present embodiment. The vehicle control device is mounted on the vehicle and implements driving support control to support driving on behalf of the driver who drives the vehicle. In the following description, a vehicle equipped with a vehicle control device is referred to as a "own vehicle", and other vehicles are referred to as "other vehicles". Further, the lane in which the own vehicle is traveling is referred to as "own lane", and the lane adjacent to the own lane is referred to as "adjacent lane". Further, among other vehicles, a vehicle that may interrupt the own lane from an adjacent lane is referred to as an "interruption target vehicle", and a vehicle traveling behind the interrupt target vehicle is referred to as a "monitoring target vehicle".

As shown in FIG. 1, the own vehicle may run in parallel in a blind spot area (for example, diagonally behind) from the interrupted vehicle traveling in the adjacent lane. In such a situation, the interrupted vehicle may interrupt the own lane at a close distance without noticing the existence of the own vehicle. Therefore, when the vehicle control device detects another vehicle that stays in the parallel running determination area for the parallel running determination time or longer, the vehicle control device performs an avoidance operation that controls the operation of the own vehicle so as to avoid parallel running with the other vehicle. Run. Hereinafter, the details of this avoidance operation will be described with reference to the figure.

FIG. 2 is a conceptual diagram for explaining an outline of the avoidance operation executed by the vehicle control device. The avoidance operation shown in this figure is an avoidance operation when the avoidance preparation described later is not executed. The vehicle control device detects an interrupt target vehicle (vehicle A) that may interrupt the own lane among other vehicles traveling in the adjacent lane. Then, the vehicle control device determines whether or not the interrupt target vehicle is running in parallel with the own vehicle in a region where there is a possibility of interference with the own vehicle. In the following description, this determination will be referred to as "parallel running determination". In the parallel running determination, more specifically, the determination condition is that the interrupt target vehicle stays in the parallel running determination area for the parallel running determination time or longer. Then, when it is detected that the determination condition is satisfied, the vehicle control device executes an avoidance operation for avoiding interference between the interrupt target vehicle and the own vehicle.

Here, the parallel running determination region is a predetermined region extending from the rear end of the own vehicle toward the lane of the adjacent lane. The boundary on the front end side of the parallel running determination region can be set, for example, at the position of the rear end of the interrupt target vehicle when the own vehicle deviates from the blind spot of the interrupt target vehicle. According to the setting of the parallel running determination area, when the interrupted vehicle is traveling in the parallel running determination area, there is a possibility of interference with the own vehicle due to the interruption of the interrupted vehicle into the own lane. You can judge.

Even if the vehicle to be interrupted stays in the parallel running determination area, the possibility of actual interference may be low if the stay is temporary. For example, when the interrupt target vehicle overtakes the own vehicle, or when the interrupt target vehicle passes through the parallel running determination area. The parallel running determination time is a condition for excluding the case where the interrupt target vehicle is staying in the parallel running determination area and the possibility of such actual interference is low.

The avoidance operation is an operation for avoiding interference between the interrupted vehicle and the own vehicle, and corresponds to, for example, a deceleration operation of the own vehicle or a lane change due to a lateral steering operation. According to such an avoidance operation, the avoidance operation for avoiding the interference with the interrupt target vehicle is performed before the interrupt target vehicle actually interrupts, so that the interference with the interrupt target vehicle can be prevented in advance. Can be done.

The inventor of the present application has recognized the following problems with respect to the above-mentioned driving support control. That is, if the vehicle to be interrupted falls into a state of being fanned by another vehicle behind, the driver of the vehicle to be interrupted is more likely to make an immediate interruption. That is, the monitored vehicle (vehicle B) traveling behind the interrupted vehicle may perform some kind of road rage with respect to the interrupted vehicle. In this case, the driver of the vehicle to be interrupted may be distracted by rushing to give up the lane and may not be able to accurately grasp the surrounding situation. As a result, the vehicle subject to interruption may interrupt the own lane by forcibly steering or decelerating even if the vehicle does not stay in the parallel running determination area for the parallel running determination time or longer.

Therefore, the vehicle control device according to the present embodiment executes avoidance preparation corresponding to preparation for avoidance operation in a situation where the interrupt target vehicle is fanned from the rear vehicle. FIG. 3 is a conceptual diagram for explaining an outline of an avoidance operation accompanied by avoidance preparation executed by the vehicle control device. The vehicle control device detects the monitored vehicle traveling behind the interrupted vehicle. Then, the vehicle control device determines whether or not a predetermined operation of the start target vehicle with respect to the interrupt target vehicle is detected. The predetermined operation here is an operation corresponding to the fanning operation performed by the monitored vehicle with respect to the interrupted vehicle, and is, for example, horning, passing, expansion / contraction of the inter-vehicle distance, meandering operation in a state where the inter-vehicle distance is short, and the like. Further, an operation such as a sudden approach of the monitored vehicle to the interrupted vehicle is applicable. When these predetermined movements are detected, the vehicle control device performs avoidance preparation. The avoidance preparation here is an operation of changing the conditions for parallel running determination, and more specifically, an operation of expanding the parallel running determination area in the lane direction of the adjacent lane and shortening the parallel running determination time.

When the vehicle control device detects that the condition for parallel running determination is satisfied after executing the avoidance preparation, more specifically, it is detected that the interrupted vehicle stays in the parallel running judgment area for more than the parallel running judgment time. In this case, the avoidance operation for avoiding the interference between the interrupt target vehicle and the own vehicle is executed.

According to the parallel running determination after the avoidance preparation is executed, the parallel running determination is more likely to be established than in the normal time when the avoidance preparation is not executed. That is, in the parallel running judgment after the execution of the avoidance preparation, the situation where the interrupted vehicle has a stay time less than the normal parallel running judgment time and the situation where the vehicle is traveling ahead of the normal parallel running judgment area are also the same. It can be the target of the establishment of the run judgment. Such a situation includes a situation in which the vehicle to be interrupted is suddenly interrupted by being fanned by the vehicle to be monitored. Therefore, the vehicle control device can execute the avoidance operation in advance in case the interrupt target vehicle fanned by the monitored vehicle interrupts the own lane. As a result, it is possible to avoid interference between the interrupted vehicle and the own vehicle and maintain smooth traffic without giving a sense of discomfort to the occupants due to premature avoidance movements or sudden avoidance movements.

1-2. Configuration Example of Vehicle Control Device Next, a configuration example of the vehicle control device that executes the above-mentioned driving support control will be described. FIG. 4 is a diagram showing a schematic configuration of the vehicle control device of the first embodiment. The vehicle control device shown in FIG. 4 is mounted on the vehicle, and performs an avoidance operation for avoiding interference with the interrupted vehicle interrupting the own lane.

As shown in FIG. 4, the vehicle control device includes a vehicle ECU (Electronic Control Unit) 10 mounted on the own vehicle. Further, the vehicle control device includes a camera 1, a radar 2, a communication device 3, a navigation device 4, a microphone array 5, and a vehicle state detection sensor 6 connected to the input side of the vehicle ECU 10. Further, the vehicle control device includes a drive device 21, a braking device 22, and a steering device 23 connected to the output side of the vehicle ECU 10.

The camera 1 is an information acquisition means for acquiring peripheral information of the own vehicle, such as a front camera that captures an image in front of the own vehicle, a left rear camera that captures images of the left and right rear of the own vehicle, and a right rear camera. It functions as. The image captured by the camera 1 is transmitted as image data to the vehicle ECU 10 at any time, and the vehicle ECU 10 performs image processing on each image data. The peripheral information acquired by the camera 1 is, for example, road information such as position information and vehicle information of other vehicles traveling in an adjacent lane, white line information, and signal information.

The radar 2 is, for example, a laser radar, a millimeter-wave radar, or the like, and functions as an information acquisition means for acquiring peripheral information of the own vehicle. The radar 2 transmits laser waves and the like to the front and rear of the own vehicle, respectively, and receives the reflected waves to acquire peripheral information of the own vehicle. The peripheral information acquired by the radar 2 is, for example, information on the presence or absence of another vehicle, distance to another vehicle, angle (that is, relative position), speed (relative velocity) information, position information of a utility pole, a building, or the like. Each information detected by the radar 2 is transmitted to the vehicle ECU 10 at any time.

The communication device 3 functions as an information acquisition means for receiving peripheral information from a roadside unit provided on the road via an antenna provided on the own vehicle. The roadside unit is a beacon device that transmits, for example, traffic congestion information, traffic information for each lane, regulation information such as temporary stop, traffic condition information at a blind spot position, and the like. Further, the communication device 3 also functions as an information acquisition means for communicating with other vehicles around the own vehicle directly via an antenna or via a repeater (not shown). The peripheral information acquired here is information on the position information, speed information, and operation state (for example, whether the direction indicator is operated, etc.) of another vehicle. Each information received in the communication device 3 is transmitted to the vehicle ECU 10 at any time.

The navigation device 4 detects the current position of the own vehicle from the GPS satellite via the antenna, and also detects the traveling speed of the own vehicle and guides the route to the destination by using the GPS, the speed sensor, the gyroscope, and the like. It is something to do. The navigation device 4 contains map data including detailed road information. This map data includes, for example, road shape, number of lanes, lane width information, and the like. The current position information, road information, and the like acquired by the navigation device 4 are transmitted to the vehicle ECU 10 at any time.

The microphone array 5 specifies the direction of the sound source by detecting the sound wave directivity. The sound source whose direction is specified by the microphone array 5 is, for example, a sound source of a horn of another vehicle. Each information detected by the microphone array 5 is transmitted to the vehicle ECU 10 at any time.

The vehicle state detection sensor 6 detects the running state of the own vehicle. Examples of the vehicle state detection sensor 6 include a vehicle speed sensor, a lateral acceleration sensor, and a yaw rate sensor. The information detected by the vehicle state detection sensor 6 is transmitted to the vehicle ECU 10.

The drive device 21 is a drive source of the own vehicle, and an engine is exemplified. The driving force generated by the driving device 21 is transmitted to the driving wheels via a power transmission path (not shown). In the engine as the drive device 21, the fuel injection amount, the injection timing, the throttle opening degree, and the like are controlled by the vehicle ECU 10, and the driving force of the own vehicle is controlled by this.

The braking device 22 is composed of a braking device and a brake actuator, and automatically applies a braking force to each wheel regardless of the driver's braking operation. The brake device is a general braking device such as a full-air type drum brake that generates braking force (braking force) on the front wheels and the rear wheels by using air pressure in response to the driver's depression operation of the brake pedal. The brake actuator generates a braking force of an arbitrary magnitude on each wheel as an automatic brake based on a command from the vehicle ECU 10 separately from the brake operation by the driver.

The steering device 23 is composed of a steering wheel and a steering actuator, and automatically controls the steering angle regardless of the steering operation of the driver. Steering is a general steering device that changes the direction of wheels according to a steering operation by a driver. The steering actuator changes the direction of the wheels as automatic steering based on a command from the vehicle ECU 10 separately from the steering operation by the driver.

1-3. Description of vehicle ECU functions The vehicle ECU 10 includes a CPU that executes various arithmetic processes, a ROM that stores programs and data necessary for its control, a RAM that temporarily stores the calculation results of the CPU, and an external device. It is a computer equipped with an input / output port for inputting / outputting signals between them.

In the vehicle ECU 10 of the first embodiment, driving support control for avoiding interference with an interrupt target vehicle interrupting the own lane is implemented. The vehicle ECU 10 has an object recognition unit 11, an interrupt target vehicle detection unit 12, a monitoring target vehicle detection unit 13, an avoidance preparation execution unit 14, and avoidance as functional blocks for realizing the above-mentioned driving support control or control associated therewith. It has an operation execution unit 15.

The object recognition unit 11 is a functional block for detecting an object existing in the vicinity of the own vehicle based on the information transmitted from the camera 1, the radar 2, the communication device 3, and the navigation device 4. The recognition result in the object recognition unit 11 is transmitted to the interrupt target vehicle detection unit 12, the monitoring target vehicle detection unit 13, and the avoidance preparation execution unit 14.

The interrupt target vehicle detection unit 12 is a functional block for detecting an interrupt target vehicle that may interrupt the own lane from an adjacent lane based on the recognition result transmitted from the object recognition unit 11. Information on the interrupted vehicle detected by the interrupted vehicle detection unit 12 is transmitted to the monitored vehicle detection unit 13 and the avoidance operation execution unit 15.

The monitored vehicle detection unit 13 is a functional block for detecting a monitored vehicle traveling behind the interrupted vehicle based on the recognition result transmitted from the object recognition unit 11. Information on the monitored vehicle detected by the monitored vehicle detection unit 13 is transmitted to the avoidance preparation execution unit 14 and the avoidance operation execution unit 15.

The avoidance preparation execution unit 14 is a functional block for executing the avoidance preparation. Specifically, the avoidance preparation execution unit 14 includes peripheral information acquired from the camera 1, radar 2, communication device 3, and navigation device 4, which are functional information acquisition means, information detected by the microphone array 5, and an interrupt target vehicle. Predetermined of the monitored vehicle for the interrupted vehicle of the monitored vehicle based on the information of the interrupted vehicle transmitted from the detection unit 12 and the information of the monitored vehicle transmitted from the monitored vehicle detection unit 13 by the information acquisition means. Detects the operation of. The predetermined operation here is an operation corresponding to the driving operation performed by the monitored vehicle with respect to the interrupted vehicle. Further, when the avoidance preparation execution unit 14 detects a predetermined operation, the avoidance preparation execution unit 14 changes the determination condition for the parallel running determination as the avoidance preparation. A specific predetermined operation detected by the avoidance preparation execution unit 14 and a specific avoidance preparation executed by the avoidance preparation execution unit 14 will be described in detail with reference to a flowchart described later.

The avoidance operation execution unit 15 is a functional block for executing an avoidance operation for avoiding interference between the interrupt target vehicle and the own vehicle. Specifically, the avoidance operation execution unit 15 executes the parallel running determination based on the information of the interrupt target vehicle transmitted from the interrupt target vehicle detection unit 12. Then, when the avoidance operation execution unit 15 detects the establishment of the parallel running determination, the avoidance operation execution unit 15 executes the avoidance operation. The specific parallel running determination and avoidance operation executed by the avoidance operation execution unit 15 will be described in detail with reference to the flowchart described later.

1-4. Specific processing of driving support control Next, specific processing of driving support control executed in the vehicle control device of the first embodiment having the above-described configuration will be described with reference to the flowchart. FIG. 5 is a flowchart showing a driving support control routine executed in the first embodiment. The routine shown in FIG. 5 is repeatedly executed by the vehicle ECU 10 in a predetermined control cycle (for example, 0.1 sec) while the own vehicle is traveling.

When the routine shown in FIG. 5 is started, it is first determined whether or not the interrupt target vehicle (vehicle A) exists (step S100). Here, the vehicle ECU 10 determines whether or not the interrupt target vehicle has been detected by the interrupt target vehicle detection unit 12. As a result, if the determination is not established, there is no other vehicle interrupting the own lane, and this routine is terminated.

On the other hand, if the determination is confirmed in step S100, it is next determined whether or not the monitored vehicle (vehicle B) exists (step S102). Here, the vehicle ECU 10 determines whether or not the monitored vehicle has been detected by the monitored vehicle detection unit 13. As a result, if the determination is not established, since there is no other vehicle that incites the interrupted vehicle, the process proceeds to the parallel running determination in step S118 described later without executing the avoidance preparation.

On the other hand, if the determination is confirmed in step S102, whether or not the inter-vehicle distance of the monitored vehicle (vehicle B) is shorter than the predetermined reference distance with respect to the interrupted vehicle (vehicle A). It is determined (step S104). As the reference distance here, a predetermined value is read as the inter-vehicle distance at which the monitored vehicle (vehicle B) can drive the interrupted vehicle (vehicle A) in a fanned manner.

If the determination is not established as a result of step S104, then the vehicle to be monitored (vehicle B) approaches the vehicle to be interrupted (vehicle A) at a speed higher than the predetermined reference relative speed. Whether or not it is determined (step S106). As the reference relative speed here, a predetermined value is read as a relative speed at which the monitored vehicle (vehicle B) may perform a fanning operation in which the vehicle to be interrupted (vehicle A) suddenly approaches. As a result, if the determination is not established, there is no other vehicle that incites the interrupted vehicle (vehicle A), so that the avoidance preparation is not executed and the parallel running of step S118 described later is performed. Move to judgment. On the other hand, if the determination is confirmed, it is determined that the monitored vehicle (vehicle B) is to drive the interrupted vehicle (vehicle A), and the process proceeds to the avoidance preparation of step S116, which will be described later. do.

On the other hand, if the determination is confirmed as a result of step S104, then the monitored vehicle (vehicle B) becomes the interrupt target vehicle (vehicle A) based on the information detected by the microphone array 5. On the other hand, it is determined whether or not the horn is sounding (step S108). As a result, if the determination is confirmed, it is determined that the monitored vehicle (vehicle B) is driving the interrupted vehicle (vehicle A) in a fanning manner, and preparations for avoiding step S116, which will be described later, are made. Move to.

If the determination is not established in step S108, then it is determined whether or not the monitored vehicle (vehicle B) is passing the interrupted vehicle (vehicle A) (step S110). ). As a result, if the determination is confirmed, it is determined that the monitored vehicle (vehicle B) is driving the interrupted vehicle (vehicle A) in a fanning manner, and preparations for avoiding step S116, which will be described later, are made. Move to.

If the determination is not established in step S110, then it is determined whether the monitored vehicle (vehicle B) shortens or extends the inter-vehicle distance with respect to the interrupt target vehicle (vehicle A). (Step S112). As a result, if the determination is confirmed, it is determined that the monitored vehicle (vehicle B) is driving the interrupted vehicle (vehicle A) in a fanning manner, and preparations for avoiding step S116, which will be described later, are made. Move to.

If the determination is not established in step S112, then it is determined whether or not the monitored vehicle (vehicle B) is meandering (step S114). As a result, if the determination is not established, there is no other vehicle that incites the interrupted vehicle (vehicle A), so that the avoidance preparation is not executed and the parallel running of step S118 described later is performed. Move to judgment.

On the other hand, if the determination is confirmed in step 114, it is determined that the monitored vehicle (vehicle B) is driving the interrupted vehicle (vehicle A), and the avoidance preparation is executed. (Step S116). Here, specifically, among the conditions for parallel running determination, the parallel running determination area is expanded in the lane direction of the adjacent lane, and the parallel running determination time is shortened.

Next, the parallel running determination is executed (step S118). Here, specifically, it is determined whether or not the interrupted vehicle stays in the parallel running determination area for the parallel running determination time or longer. As a result, if the determination is not established, it is determined that the interrupt target vehicle (vehicle A) is unlikely to interrupt the own lane, and this routine ends without executing the avoidance operation described later. Will be done.

On the other hand, if the reversal is confirmed in step S118, it can be determined that there is a high possibility that the interrupt target vehicle (vehicle A) interrupts the own lane. In this case, the process proceeds to the next step and the avoidance operation is executed (step S120). Here, specifically, the operation of controlling the drive device 21, the braking device 22, and the steering device 23 of the own vehicle to automatically decelerate the own vehicle, or the operation opposite to the adjacent lane in which the interrupt target vehicle travels. The operation of automatically changing the lane of the own vehicle to the adjacent lane is performed.

According to such control, even if the interrupted vehicle traveling in the editorial lane suddenly interrupts the own lane due to the driving from the monitored vehicle, it is possible to prevent the interference with the interrupted vehicle. It will be possible.

1-5. Modification example of the vehicle control device according to the first embodiment The modified configuration of the vehicle control device according to the first embodiment can be applied as follows.

The predetermined operation performed by the monitored vehicle is not limited to the above as long as it is an operation corresponding to an action in which the interrupted vehicle feels to be fanned by the monitored vehicle behind.

1 Camera 2 Radar 3 Communication device 4 Navigation device 5 Microphone array 6 Vehicle status detection sensor 10 Vehicle ECU (Electronic Control Unit)
11 Object recognition unit 12 Interruption target vehicle detection unit 13 Monitoring target vehicle detection unit 14 Avoidance preparation execution unit 15 Avoidance operation execution unit 21 Drive unit 22 Braking device 23 Steering device

Claims (1)

In a vehicle control device that controls the operation of the own vehicle so as to avoid parallel running with the other vehicle when another vehicle staying in the parallel running judgment area set in the adjacent lane for the parallel running judgment time or longer is detected. ,
An object recognition unit that recognizes an object existing around the own vehicle,
Among the objects recognized by the object recognition unit, an interrupt target vehicle detection unit that detects an interrupt target vehicle that may interrupt the own lane from the adjacent lane, and an interrupt target vehicle detection unit.
Among the objects recognized by the object recognition unit, the monitored vehicle detection unit that detects the monitored vehicle traveling behind the interrupted vehicle, and the monitored vehicle detection unit.
When an operation corresponding to the driving of the monitored vehicle with respect to the interrupted vehicle is detected, the avoidance preparation for expanding the parallel running determination area in the lane direction of the adjacent lane and shortening the parallel running determination time is executed. Avoidance preparation execution department and
When it is detected that the interrupted vehicle stays in the parallel running determination area for the parallel running determination time or longer after the execution of the avoidance preparation, the interference between the interrupted vehicle and the own vehicle is avoided. The avoidance action execution unit that executes the avoidance action for
A vehicle control device characterized by being provided with.

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